CN208447773U - A kind of vertebra minimally invasive robot - Google Patents
A kind of vertebra minimally invasive robot Download PDFInfo
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- CN208447773U CN208447773U CN201721324361.7U CN201721324361U CN208447773U CN 208447773 U CN208447773 U CN 208447773U CN 201721324361 U CN201721324361 U CN 201721324361U CN 208447773 U CN208447773 U CN 208447773U
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- locating mechanism
- gas spring
- control unit
- locating
- minimally invasive
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Abstract
The utility model relates to a kind of vertebra minimally invasive robots, including control unit, and it is set on the rack pre-locating mechanism, precise locating mechanism, operating mechanism and station acquisition system, the pre-locating mechanism includes actuator, driving member and locating piece, the actuator and driving member are sequentially connected, and locating piece is fixedly connected with driving member；The precise locating mechanism includes chassis, top plate and retractable rod, the retractable rod includes the telescopic rod drive system connected and multiple telescopic rods, the both ends of multiple telescopic rods are rotatablely connected with chassis and top plate, chassis is fixedly connected with locating piece, the telescopic rod drive system connecting pin electrical connection corresponding with control unit；The operating mechanism includes connecting rod, and one end of the connecting rod is fixedly connected with top plate；The station acquisition system includes navigation system and display, and connecting pin corresponding with control unit is electrically connected respectively for the navigation system and display.The utility model can quickly be accurately positioned surgical instrument.
Description
Technical field
The utility model relates to a kind of robots, and in particular to a kind of vertebra minimally invasive robot belongs to Medical Devices technology
Field.
Background technique
It is well known that lesion occurs for sclerotin, interverbebral disc, ligament, muscle that spondylodynia is exactly vertebra, and then oppress, traction
To complicated and diversified symptom occur, vertebra Minimally Invasive Surgery is for spondylodynia for stimulation spinal cord, spinal nerve, blood vessel, vegetative nerve
Become and carry out minimum to injury of human, recovery from illness period shortest accurate Minimally Invasive Surgery the general name of operative treatment.Vertebra correlation disease
Suffering from includes the protrusion of the intervertebral disc, spinal canal stenosis, spinal fracture, deformity of spinal column displacement, Vertebral Neoplasmss etc., is common frequently-occurring disease,
Great pain is caused to patient.
Traditional open surgery and various other Minimally Invasive Surgeries, such as disc herniation resection operation, pedicle nail are orthopedic
Ligamentopexis, disk fusion art etc. before surgery in phase preparation, are required by X-ray machine (C arm machine) repeatedly film making observation confirmation
The relative position of instrument and operative site, to guarantee the security reliability of patients surgery process.The long-term product that X-ray is frequently irradiated
Tired effect, can damage the health of medical staff, and in order to reduce the injury of ray, before taking pictures every time, medical staff needs
Hide and protected in out operating-room, objectively cause preoperative preparation time too long, when extending the operation of the patient of local anaesthesia
Between.
Summary of the invention
The purpose of this utility model is: providing one kind can be quickly to the minimally invasive machine of the pinpoint vertebra of surgical instrument
People.
A kind of in order to achieve the above object, the technical solution of the present invention is: vertebra minimally invasive robot, innovative point exist
In: including rack, pre-locating mechanism, precise locating mechanism, operating mechanism, station acquisition system and control unit, the pre-determined bit
Mechanism, precise locating mechanism, operating mechanism and station acquisition system are all provided on the rack；
The pre-locating mechanism includes actuator, driving member and locating piece, and the actuator and driving member are sequentially connected, and
Locating piece is fixedly connected with driving member；
The precise locating mechanism includes chassis, top plate and retractable rod, and the retractable rod includes telescopic rod driving
System and multiple telescopic rods, the multiple telescopic rod are connect with telescopic rod drive system, and the both ends of multiple telescopic rods with
Chassis and top plate rotation connection, the chassis are fixedly connected with locating piece, and the telescopic rod drive system is corresponding to control unit
Connecting pin electrical connection；
The operating mechanism includes connecting rod, and one end of the connecting rod is fixedly connected with top plate；
The station acquisition system includes navigation system and display, and the navigation system and display are single with control respectively
First corresponding connecting pin electrical connection.
In the above-mentioned technical solutions, it includes sliding rail, slide, the second gas bullet that operating bed retaining mechanism is additionally provided in the rack
Spring component, button, the second electromagnet and grips seat at the second gas spring release system, and the sliding rail and button are and rack
It is fixedly connected, and slide is slidably connected with sliding rail, one end of second gas spring assembly and slide are articulated and connected and with second
One end of gas spring release system is fixedly connected, and the other end of the second gas spring assembly is articulated and connected with seat is gripped, described
The other end of second gas spring release system is fixedly connected with the second electromagnet；The button and the second electromagnet respectively with control
The corresponding connecting pin electrical connection of unit.
In the above-mentioned technical solutions, the rack has pre-locating mechanism bracket, and the pre-locating mechanism is mounted on rack
Pre-locating mechanism bracket on.
In the above-mentioned technical solutions, the pre-locating mechanism further includes pedestal, and driving member is screw rod, and actuator is electricity
Machine；The pedestal is mounted on pre-locating mechanism bracket, and one end of the screw rod and the output shaft of motor are sequentially connected, the other end
It is rotatablely connected with pedestal, locating piece is slidably matched by screw rod and pedestal.
In the above-mentioned technical solutions, the pre-locating mechanism further include the driving wheel being located on pre-locating mechanism bracket and from
Driving wheel, the actuator are motor, and driving member is synchronous belt；Driving wheel is housed, and driving wheel is logical on the output shaft of the motor
It crosses synchronous belt and driven wheel is sequentially connected, the locating piece is located on synchronous belt.
In the above-mentioned technical solutions, the precise locating mechanism further includes the first electromagnet, and the telescopic rod of retractable rod
Drive system be the first gas spring discharge system, telescopic rod be the first gas spring, the multiple first gas spring with the first gas
Spring discharges system connection, and the both ends of multiple first gas springs are connected by corresponding ball bearing and chassis and top plate rotation respectively
It connects, first electromagnet is connect with the first gas spring release system, and the first electromagnet connecting pin corresponding with control unit
Electrical connection；The operating mechanism further includes operation button, and operation button is mounted in connecting rod and corresponding with control unit
Connecting pin electrical connection.
In the above-mentioned technical solutions, the operating mechanism further includes medical instrument clamping piece, the medical instrument clamping piece
It is detachably connected with the other end of connecting rod；One end of the connecting rod has connector, the connector of the connecting rod and top
Disk is fixedly connected.
In the above-mentioned technical solutions, the navigation system of the station acquisition system includes navigator, locator and for setting
Human body locator on human body, the navigator are set on the rack, and locator is fixed in connecting rod, and navigator receives and determines
The positioning signal that position device and human body locator issue, and navigator connecting pin electrical connection corresponding with control unit.
In the above-mentioned technical solutions, the rack has station acquisition system frame, the station acquisition system frame packet
Include fixed pedestal and linking arm, one end of the linking arm and fixed pedestal are articulated and connected, the navigator and linking arm it is another
One end rotation connection, and navigator is located at the top of precise locating mechanism.
Good effect possessed by the utility model is: after the vertebra minimally invasive robot of the utility model, due to this
Utility model includes rack, pre-locating mechanism, precise locating mechanism, operating mechanism, station acquisition system and control unit, described pre-
Positioning mechanism, precise locating mechanism, operating mechanism and station acquisition system are all provided on the rack；
The pre-locating mechanism includes actuator, driving member and locating piece, and the actuator and driving member are sequentially connected, and
Locating piece is fixedly connected with driving member；
The precise locating mechanism includes chassis, top plate and retractable rod, and the retractable rod includes telescopic rod driving
System and multiple telescopic rods, the multiple telescopic rod are connect with telescopic rod drive system, and the both ends of multiple telescopic rods with
Chassis and top plate rotation connection, the chassis are fixedly connected with locating piece, and the telescopic rod drive system is corresponding to control unit
Connecting pin electrical connection；
The operating mechanism includes connecting rod, and one end of the connecting rod is fixedly connected with top plate；
The station acquisition system includes navigation system and display, and the navigation system and display are single with control respectively
First corresponding connecting pin electrical connection；
In use, the operating bed of the rack and X-ray machine is rigidly connected, it is ensured that the utility model is in use not
It will appear movement, patient lies prone on the operating bed of X-ray machine, and the CT photo of the patient, hand is stored in advance in described control unit
Art instrument is mounted on the other end of the connecting rod of operating mechanism, the actuator control driving member of the pre-locating mechanism be driven so that
Locating piece is located at suitable height above patient, the vertebral location information of the navigation system acquisition patient of the station acquisition system
And give collected content to control unit, described control unit is according to the CT photo of collected content combination patient, really
Determine the surgery location of patient's vertebra, and show over the display, then described control unit exports corresponding control instruction control
Telescopic rod drive system drives telescopic rod to carry out fine positioning, and doctor shows according to display and performs the operation.The utility model is special
It is suitable for vertebra Minimally Invasive Surgery (being also applied for other Minimally Invasive Surgery auxiliary to be accurately positioned), initial alignment and pinpoint knot
It closes, substantially increases location efficiency, and be conducive to safe avoidance patient health tissue in operation.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of specific embodiment of the utility model；
Fig. 2 is the schematic perspective view of the pre-locating mechanism of the utility model；
Fig. 3 is the schematic perspective view of the precise locating mechanism of the utility model；
Fig. 4 is the other direction view of Fig. 3；
Fig. 5 is the schematic perspective view of the operating mechanism of the utility model；
Fig. 6 is the schematic perspective view of the operating bed retaining mechanism of the utility model；
Fig. 7 is the use state schematic perspective view of the utility model.
Specific embodiment
Below in conjunction with attached drawing and the embodiment provided, the utility model is further described, but is not limited to
This.
As shown in Fig. 1,2,3,4,5,6,7, a kind of vertebra minimally invasive robot, including rack 1, pre-locating mechanism 2, fine positioning
Mechanism 3, operating mechanism 4, station acquisition system 5 and control unit 7, the pre-locating mechanism 2, precise locating mechanism 3, operating mechanism
4 and station acquisition system 5 be each provided in rack 1；
The pre-locating mechanism 2 includes actuator 21, driving member 221 and locating piece 222, the actuator 21 and driving member
221 transmission connections, and locating piece 222 is fixedly connected with driving member 221；
The precise locating mechanism 3 includes chassis 31, top plate 32 and retractable rod 33, and the retractable rod 33 includes stretching
Contracting bar drive system 331 and multiple telescopic rods 332, the multiple telescopic rod 332 are connect with telescopic rod drive system 331, and
The both ends of multiple telescopic rods 332 are rotatablely connected with chassis 31 and top plate 32, and the chassis 31 is fixedly connected with locating piece 222,
The connecting pin electrical connection corresponding with control unit 7 of telescopic rod drive system 331；
The operating mechanism 4 includes connecting rod 41, and one end of the connecting rod 41 is fixedly connected with top plate 32；
The station acquisition system 5 includes navigation system and display 53, the navigation system and display 53 respectively with
The electrical connection of the corresponding connecting pin of control unit 7.
As shown in fig. 6, being rigidly connected for the ease of being realized when the utility model is used with operating bed, prevent mobile
Situation, it includes sliding rail 61, slide 62, the second gas spring assembly 63, second that operating bed retaining mechanism 6 is additionally provided in the rack 1
Gas spring release system 64, the second electromagnet 66 and grips seat 67 at button 65, and the sliding rail 61 and button 65 are and rack
1 is fixedly connected, and slide 62 is slidably connected with sliding rail 61, and one end of second gas spring assembly 63 and slide 62 are articulated and connected
And be fixedly connected with one end of the second gas spring release system 64, the other end of the second gas spring assembly 63 and grip seat 67
The other end of articulated connection, the second gas spring release system 64 is fixedly connected with the second electromagnet 66；65 He of button
The connecting pin electrical connection corresponding with control unit 7 respectively of second electromagnet 66.Certainly, operating bed described in the utility model locks machine
Structure is not limited thereto, and can also use other structures, for example, the operating bed retaining mechanism includes connecting rod and U-shaped fixation
Seat, one end of the connecting rod and rack 1 are articulated and connected, and the other end and U-shaped fixing seat are rotatablely connected, in the U-shaped fixing seat
Equipped with fastening screw.
As shown in Figure 1, in order to enable the utility model structure is more reasonable, compact, and convenient for assembling, the rack 1
With pre-locating mechanism bracket 11, the pre-locating mechanism 2 is mounted on the pre-locating mechanism bracket 11 of rack 1.
As shown in Fig. 2, the pre-locating mechanism 2 further includes pedestal 223, and driving member in order to realize linear movement
221 be screw rod, and actuator 21 is motor；The pedestal 223 is mounted on pre-locating mechanism bracket 11, one end of the screw rod with
The output shaft of motor is sequentially connected, and the other end and pedestal 223 are rotatablely connected, and locating piece 222 is matched by screw rod and the sliding of pedestal 223
It closes.The straight line mould group that the pedestal 223, screw rod and locating piece are constituted also can choose commercially available product, described to be used to that screw rod is driven to transport
Capable actuator is also possible to handle, realizes screw rod rotation by rotating handle.
Certainly, the structure of pre-locating mechanism 2 described above is not limited thereto, and can also select other structures, for example, institute
Stating pre-locating mechanism 2 further includes the driving wheel and driven wheel being located on pre-locating mechanism bracket 11, and the actuator 21 is motor,
Driving member 221 is synchronous belt；Driving wheel is housed, and driving wheel is driven by synchronous belt and driven wheel on the output shaft of the motor
Connection, the locating piece 222 are located on synchronous belt.Certainly, the actuator 21 is also possible to handle.
As shown in Figure 3,4, the precise locating mechanism 3 further includes the first electromagnet 34, and the telescopic rod of retractable rod 33
Drive system 331 be the first gas spring discharge system, telescopic rod 332 be the first gas spring, the multiple first gas spring with
First gas spring discharges system connection, and the both ends of multiple first gas springs pass through corresponding ball bearing and chassis 31 and top plate
32 rotation connections, first electromagnet 34 are connect with the first gas spring release system, and the first electromagnet 34 and control unit 7
Corresponding connecting pin electrical connection；The operating mechanism 4 further includes operation button 43, and operation button 43 is mounted in connecting rod 41
And connecting pin electrical connection corresponding with control unit 7.In use, doctor holds the surgical instrument of 42 other end of connecting rod, and press
Lower operation button 43, at this point, 34 output switching signal of the first electromagnet is to control unit 7, and by 7 output phase of control unit
The control signal control gas spring release system drive gas spring movement answered, realizes and carries out precise positioning to surgical instrument, work as doctor
Raw release operation button 43, at this point, surgical instrument is located above patients surgery position, and surgical instrument will not in the process
The case where being displaced.
As shown in figure 4, the precise locating mechanism 3 further includes electromagnet mounting base 342, institute for the ease of installing electromagnet
The first electromagnet 34 is stated to connect by electromagnet mounting base 342 with locating piece.
As shown in figure 5, the operating mechanism 4 further includes for the ease of fixing and replacing different types of surgical instrument
Medical instrument clamping piece 42, the medical instrument clamping piece 42 and the other end of connecting rod 41 are detachably connected；The connecting rod
41 one end has connector 411, and the connector 411 of the connecting rod 41 is fixedly connected with top plate 32.
As shown in Figure 1, for the ease of acquiring the vertebral location information of patient, the navigation system of the station acquisition system 5
Including navigator 51, locator 52 and human body locator 54 for being located on human body, the navigator 51 is located in rack 1,
Locator 52 is fixed in connecting rod 41, and navigator 51 receives the positioning signal that locator 52 and human body locator 54 issue,
And the connecting pin electrical connection corresponding with control unit 7 of navigator 51.In use, the human body locator 54 is placed in patient's ridge
The tail portion of vertebra, as the origin of acquisition patients surgery location information, for the more accurate surgery location information for obtaining patient, institute
It states control unit 7 and acquires location information of the locator 52 with respect to human body locator 54.
As shown in Figure 1, the rack 1 has station acquisition system frame 12, institute for the ease of installation site acquisition system
Rheme sets acquisition system bracket 12 and includes fixed pedestal 121 and linking arm 122, one end of the linking arm 122 and fixed pedestal
The other end of 121 articulated connections, the navigator 51 and linking arm 122 is rotatablely connected, and navigator 51 is located at precise locating mechanism 3
Top.
Described control unit includes the microprocessor and motor driver of electrical connection, and motor is electrically connected with motor driver
It connects, the connecting pin electrical connection corresponding with microprocessor respectively of the electromagnet, button, gas spring release system and navigator.
The course of work of the utility model: the operating bed of the rack and X-ray machine is rigidly connected, it is ensured that the utility model
It is in use not in movement, patient lies prone on the operating bed of X-ray machine, and patient bat is stored in advance in described control unit
The CT photo taken the photograph, surgical instrument are mounted on the other end of the connecting rod of operating mechanism, the actuator control of the pre-locating mechanism
Driving member is driven so that locating piece is located above patientIt is suitble to operationHeight, the station acquisition system navigation system acquisition
The vertebral location information of patient simultaneously send collected content to control unit, and described control unit is according to collected content knot
The CT photo for closing patient, determines the surgery location of patient's vertebra, and show over the display, then described control unit output phase
The control instruction control telescopic rod drive system driving telescopic rod answered carries out fine positioning, and doctor shows according to display carries out hand
Art.The utility model is initial fixed particularly suitable for vertebra Minimally Invasive Surgery (being also applied for other Minimally Invasive Surgery auxiliary to be accurately positioned)
Position and pinpoint combination, substantially increase location efficiency, and are conducive to safe avoidance patient health tissue in operation.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technical idea completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to its technology is determined according to scope of the claims
Property range.
Claims (9)
1. a kind of vertebra minimally invasive robot, it is characterised in that: including rack (1), pre-locating mechanism (2), precise locating mechanism (3),
Operating mechanism (4), station acquisition system (5) and control unit (7), the pre-locating mechanism (2), precise locating mechanism (3), operation
Mechanism (4) and station acquisition system (5) are each provided on rack (1)；
The pre-locating mechanism (2) includes actuator (21), driving member (221) and locating piece (222), the actuator (21) with
Driving member (221) transmission connection, and locating piece (222) is fixedly connected with driving member (221)；
The precise locating mechanism (3) includes chassis (31), top plate (32) and retractable rod (33), the retractable rod (33)
Including telescopic rod drive system (331) and multiple telescopic rods (332), the multiple telescopic rod (332), which drives with telescopic rod, is
System (331) connection, and the both ends of multiple telescopic rods (332) are rotatablely connected with chassis (31) and top plate (32), the chassis
(31) it is fixedly connected with locating piece (222), telescopic rod drive system (331) the connecting pin electricity corresponding with control unit (7)
Connection；
The operating mechanism (4) includes connecting rod (41), and one end of the connecting rod (41) is fixedly connected with top plate (32)；
The station acquisition system (5) includes navigation system and display (53), and the navigation system and display (53) are respectively
Connecting pin electrical connection corresponding with control unit (7).
2. vertebra minimally invasive robot according to claim 1, it is characterised in that: be additionally provided with operating bed on the rack (1)
Retaining mechanism (6) includes sliding rail (61), slide (62), the second gas spring assembly (63), the second gas spring release system (64), presses
Button (65), the second electromagnet (66) and grip seat (67), the sliding rail (61) and button (65) with rack (1) is fixed connects
It connects, and slide (62) is slidably connected with sliding rail (61), one end and the slide (62) of second gas spring assembly (63) hingedly connect
It connects and is fixedly connected with one end of the second gas spring release system (64), the other end of the second gas spring assembly (63) and clamping are solid
The other end of reservation (67) articulated connection, the second gas spring release system (64) is fixedly connected with the second electromagnet (66)；
The button (65) and the second electromagnet (66) connecting pin electrical connection corresponding with control unit (7) respectively.
3. vertebra minimally invasive robot according to claim 1, it is characterised in that: the rack (1) has pre-locating mechanism
Bracket (11), the pre-locating mechanism (2) are mounted on the pre-locating mechanism bracket (11) of rack (1).
4. vertebra minimally invasive robot according to claim 3, it is characterised in that: the pre-locating mechanism (2) further includes base
Seat (223), and driving member (221) is screw rod, actuator (21) is motor；The pedestal (223) is mounted on pre-locating mechanism branch
On frame (11), one end of the screw rod and the output shaft of motor are sequentially connected, and the other end and pedestal (223) are rotatablely connected, positioning
Block (222) is slidably matched by screw rod with pedestal (223).
5. vertebra minimally invasive robot according to claim 3, it is characterised in that: the pre-locating mechanism (2) further includes setting
Driving wheel and driven wheel on pre-locating mechanism bracket (11), the actuator (21) are motor, and driving member (221) is to synchronize
Band；Driving wheel is housed, and driving wheel is sequentially connected by synchronous belt and driven wheel on the output shaft of the motor, the locating piece
(222) it is located on synchronous belt.
6. vertebra minimally invasive robot according to claim 1, it is characterised in that: the precise locating mechanism (3) further includes
One electromagnet (34), and the telescopic rod drive system (331) of retractable rod (33) is that the first gas spring discharges system, telescopic rod
It (332) is the first gas spring, the multiple first gas spring is connect with the first gas spring release system, and multiple first gas bullets
The both ends of spring are rotatablely connected by corresponding ball bearing and chassis (31) and top plate (32) respectively, first electromagnet (34) and
First gas spring discharges system connection, and the first electromagnet (34) connecting pin electrical connection corresponding with control unit (7)；The behaviour
Making mechanism (4) further includes operation button (43), and operation button (43) be mounted on connecting rod (41) and with control unit (7) phase
The connecting pin electrical connection answered.
7. vertebra minimally invasive robot according to claim 1, it is characterised in that: the operating mechanism (4) further includes medical treatment
Instrument clamping piece (42), the medical instrument clamping piece (42) and the other end of connecting rod (41) are detachably connected；The connection
One end of bar (41) has connector (411), and the connector (411) of the connecting rod (41) is fixedly connected with top plate (32).
8. vertebra minimally invasive robot according to claim 1, it is characterised in that: the navigation of the station acquisition system (5)
System includes navigator (51), locator (52) and the human body locator (54) for being located on human body, the navigator (51)
It is located on rack (1), locator (52) is fixed on connecting rod (41), and navigator (51) receives locator (52) and human body is fixed
The positioning signal that position device (54) issues, and navigator (51) connecting pin electrical connection corresponding with control unit (7).
9. vertebra minimally invasive robot according to claim 8, it is characterised in that: the rack (1) has station acquisition system
It unites bracket (12), the station acquisition system frame (12) includes fixed pedestal (121) and linking arm (122), the linking arm
(122) one end and fixed pedestal (121) is articulated and connected, and the other end of the navigator (51) and linking arm (122), which rotates, to be connected
It connects, and navigator (51) is located at the top of precise locating mechanism (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721324361.7U CN208447773U (en) | 2017-10-16 | 2017-10-16 | A kind of vertebra minimally invasive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721324361.7U CN208447773U (en) | 2017-10-16 | 2017-10-16 | A kind of vertebra minimally invasive robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208447773U true CN208447773U (en) | 2019-02-01 |
Family
ID=65140615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721324361.7U Active CN208447773U (en) | 2017-10-16 | 2017-10-16 | A kind of vertebra minimally invasive robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208447773U (en) |
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2017
- 2017-10-16 CN CN201721324361.7U patent/CN208447773U/en active Active
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Address after: 213000 Liaohe Road 1039, Xinbei District, Changzhou City, Jiangsu Province Patentee after: EAGLESCOPE MEDICAL TECHNOLOGY Co.,Ltd. Address before: 213000 No. 120 Hanjiang West Road, Xinbei District, Changzhou, Jiangsu Patentee before: EAGLESCOPE MEDICAL TECHNOLOGY Co.,Ltd. |